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<h1><a href="../apiOverview.htm">Regular API</a> function</h1>
<h3 class=subsectionBar><a name="simHandleIkGroup" id="simHandleIkGroup"></a>simHandleIkGroup / sim.handleIkGroup </h3>
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<td class=apiTableLeftDescr>
Description 
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<td class=apiTableRightDescr>Handles (solves) a registered IK group. IK groups can be registered while editing a scene. See also <a href="simCheckIkGroup.htm">sim.checkIkGroup</a>, <a href="simComputeJacobian.htm">sim.computeJacobian</a> and <a href="simGenerateIkPath.htm">sim.generateIkPath</a>.<br></td>
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C synopsis
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<td class=apiTableRightCSyn>simInt simHandleIkGroup(simInt ikGroupHandle)</td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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<div><strong>ikGroupHandle</strong>: handle of the IK group or sim_handle_all or sim_handle_all_except_explicit. (sim_handle_all will handle all IK groups, while sim_handle_all_except_explicit will only handle those that are not marked as &quot;explicit handling&quot;). See also <a href="simGetIkGroupHandle.htm">simGetIkGroupHandle</a>.<br>
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C return value
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<div>number of performed calculations (i.e. IK group calculation results are different from sim_ikresult_not_performed) if no specific IK group was specified, or a value of type <a href="../apiConstants.htm#ikCalculationResults">IK result</a> if a specific IK group was specified, -1 in case of an error (a failed IK group calculation is not considered as an error)<br>
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Lua synopsis
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<td class=apiTableRightLSyn>number calculationCountOrResult=sim.handleIkGroup(number ikGroupHandle)<br></td> 
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<td class=apiTableLeftLParam>Lua parameters</td> 
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<div>Similar to the C-function counterpart</div>
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Lua return values
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<div>Similar to the C-function counterpart</div>
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